ompl::control::SteeredControlSampler Class Reference

Abstract definition of a steered control sampler. It uses the steering function in a state propagator to find the controls that drive from one state to another. More...

#include <ompl/control/SteeredControlSampler.h>

Inheritance diagram for ompl::control::SteeredControlSampler:

Public Member Functions

 SteeredControlSampler (const SpaceInformation *si)
 Constructor takes the state space to construct samples for as argument.
 
unsigned int sampleTo (Control *control, const base::State *source, base::State *dest) override
 Sample a control given that it will be applied to state state and the intention is to reach state target. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.
 
unsigned int sampleTo (Control *control, const Control *previous, const base::State *source, base::State *dest) override
 Sample a control given that it will be applied to state state and the intention is to reach state dest. Also take into account the fact that the previously applied control is previous. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.
 
- Public Member Functions inherited from ompl::control::DirectedControlSampler
 DirectedControlSampler (const DirectedControlSampler &)=delete
 
DirectedControlSampleroperator= (const DirectedControlSampler &)=delete
 
 DirectedControlSampler (const SpaceInformation *si)
 Constructor takes the state space to construct samples for as argument.
 

Additional Inherited Members

- Protected Attributes inherited from ompl::control::DirectedControlSampler
const SpaceInformationsi_
 The space information this sampler operates on.
 

Detailed Description

Abstract definition of a steered control sampler. It uses the steering function in a state propagator to find the controls that drive from one state to another.

Definition at line 52 of file SteeredControlSampler.h.


The documentation for this class was generated from the following file: